%Parameters Value
m=2;l=0.2;g=9.8;
K1=0.01;K2=0.01;K3=0.01;K4=0.012;K5=0.012;K6=0.012;
I1=1.25;I2=1.25;I3=2.5;

c1=5;c2=5;c3=5;
c4=30;c5=30;c6=30;

k1=5;k2=5;k3=5;
k4=50;k5=50;k6=50;

eta1=0.10;eta2=0.10;eta3=0.10;
eta4=0.10;eta5=0.10;eta6=0.10;

zd=10;phid=pi/3;
%zd=10;phid=0;